merge main

.clang-format

@@ -0,0 +1,76 @@
+---
+# This was copied over from the moveit_studio repository.
+BasedOnStyle:  Google
+ColumnLimit:    120
+MaxEmptyLinesToKeep: 1
+SortIncludes: false
+
+Standard:        Auto
+IndentWidth:     2
+TabWidth:        2
+UseTab:          Never
+AccessModifierOffset: -2
+ConstructorInitializerIndentWidth: 2
+NamespaceIndentation: None
+ContinuationIndentWidth: 4
+IndentCaseLabels: true
+IndentFunctionDeclarationAfterType: false
+
+AlignEscapedNewlinesLeft: false
+AlignTrailingComments: true
+
+AllowAllParametersOfDeclarationOnNextLine: false
+ExperimentalAutoDetectBinPacking: false
+ObjCSpaceBeforeProtocolList: true
+Cpp11BracedListStyle: false
+
+AllowShortBlocksOnASingleLine: true
+AllowShortIfStatementsOnASingleLine: false
+AllowShortLoopsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: None
+AllowShortCaseLabelsOnASingleLine: false
+
+AlwaysBreakTemplateDeclarations: true
+AlwaysBreakBeforeMultilineStrings: false
+BreakBeforeBinaryOperators: false
+BreakBeforeTernaryOperators: false
+BreakConstructorInitializersBeforeComma: true
+
+BinPackParameters: true
+ConstructorInitializerAllOnOneLineOrOnePerLine: true
+DerivePointerBinding: false
+PointerBindsToType: true
+
+PenaltyExcessCharacter: 50
+PenaltyBreakBeforeFirstCallParameter: 30
+PenaltyBreakComment: 1000
+PenaltyBreakFirstLessLess: 10
+PenaltyBreakString: 100
+PenaltyReturnTypeOnItsOwnLine: 50
+
+SpacesBeforeTrailingComments: 2
+SpacesInParentheses: false
+SpacesInAngles:  false
+SpaceInEmptyParentheses: false
+SpacesInCStyleCastParentheses: false
+SpaceAfterCStyleCast: false
+SpaceAfterControlStatementKeyword: true
+SpaceBeforeAssignmentOperators: true
+
+# Configure each individual brace in BraceWrapping
+BreakBeforeBraces: Custom
+
+# Control of individual brace wrapping cases
+BraceWrapping:
+    AfterCaseLabel: true
+    AfterClass: true
+    AfterControlStatement: true
+    AfterEnum: true
+    AfterFunction: true
+    AfterNamespace: true
+    AfterStruct: true
+    AfterUnion: true
+    BeforeCatch: true
+    BeforeElse: true
+    IndentBraces: false
+...

.clang-tidy

@@ -0,0 +1,57 @@
+---
+# This was copied over from the moveit_studio repository.
+#
+# TODO(henningkayser): Re-enable performance-unnecessary-value-param once #214 is resolved
+Checks:          '-*,
+                  performance-*,
+                  -performance-unnecessary-value-param,
+                  llvm-namespace-comment,
+                  modernize-redundant-void-arg,
+                  modernize-use-nullptr,
+                  modernize-use-default,
+                  modernize-use-override,
+                  modernize-loop-convert,
+                  readability-braces-around-statements,
+                  readability-named-parameter,
+                  readability-redundant-smartptr-get,
+                  readability-redundant-string-cstr,
+                  readability-simplify-boolean-expr,
+                  readability-container-size-empty,
+                  readability-identifier-naming,
+                  '
+HeaderFilterRegex: ''
+AnalyzeTemporaryDtors: false
+CheckOptions:
+  - key:             llvm-namespace-comment.ShortNamespaceLines
+    value:           '10'
+  - key:             llvm-namespace-comment.SpacesBeforeComments
+    value:           '2'
+  - key:             readability-braces-around-statements.ShortStatementLines
+    value:           '2'
+  # type names
+  - key:             readability-identifier-naming.ClassCase
+    value:           CamelCase
+  - key:             readability-identifier-naming.EnumCase
+    value:           CamelCase
+  - key:             readability-identifier-naming.EnumConstantCase
+    value:           CamelCase
+  - key:             readability-identifier-naming.UnionCase
+    value:           CamelCase
+  # method names
+  - key:             readability-identifier-naming.MethodCase
+    value:           camelBack
+  # variable names
+  - key:             readability-identifier-naming.VariableCase
+    value:           lower_case
+  - key:             readability-identifier-naming.ClassMemberSuffix
+    value:           '_'
+  # const static, constexpr or global variables are camelBack (we write them as kMyConstant)
+  - key:             readability-identifier-naming.ConstexprVariableCase
+    value:           camelBack
+  - key:             readability-identifier-naming.StaticConstantCase
+    value:           camelBack
+  - key:             readability-identifier-naming.ClassConstantCase
+    value:           camelBack
+  - key:             readability-identifier-naming.GlobalVariableCase
+    value:           camelBack
+...

.github/workflows/ci.yaml

@@ -0,0 +1,75 @@
+name: CI
+
+on:
+  # Run if someone manually presses the button in the GitHub Actions UI
+  workflow_dispatch:
+  # Run when a PR is opened or updated
+  pull_request:
+  # Run when a commit is pushed to main
+  push:
+    branches:
+      - main
+
+permissions:
+  # Allow reading the source code
+  contents: read
+  # Allow writing built containers to GitHub Package Registry
+  packages: write
+
+jobs:
+  build-ws:
+    name: Build colcon workspace
+    runs-on: ubuntu-24.04
+    steps:
+      - name: Checkout source
+        uses: actions/checkout@v4
+
+      - name: VCS import
+        run: vcs import src --input src/fuse/fuse.repos; rosdep install --ignore-src --from-paths src -y -r
+
+      - name: Setup Docker Buildx
+        uses: docker/setup-buildx-action@v2
+
+        # Log into GitHub Container Registry so we can push an image
+      - name: Log in to GHCR
+        uses: docker/login-action@v2
+        with:
+          registry: ghcr.io
+          username: ${{ github.repository_owner }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      # Build the Dockerfile and push the image to the private GitHub Container Registry on this repo
+      - name: Build workspace
+        uses: docker/build-push-action@v4
+        with:
+          context: .
+          # run_id is unique to a particular run of this workflow so shouldn't clobber
+          tags: ghcr.io/picknikrobotics/fuse:${{ github.run_id }}
+          push: true
+          # This project is small enough that caching to GitHub Actions should be fine (it has a 10GB cache limit)
+          cache-to: type=gha,mode=max
+          cache-from: type=gha
+
+  test-ws:
+    name: Test colcon workspace
+    needs:
+      # Ensure the test job runs after the build job finishes instead of attempting to run in parallel
+      - build-ws
+    runs-on: ubuntu-24.04
+    container:
+      # Run on the Docker image we tagged and pushed to a private repo in the job above
+      image: ghcr.io/picknikrobotics/fuse:${{ github.run_id }}
+    steps:
+      - name: Unit test workspace
+        run: |
+          . /opt/ros/rolling/setup.sh
+          . /colcon_ws/install/local_setup.sh
+          colcon test --event-handlers console_direct+ --retest-until-pass 3
+        working-directory: /colcon_ws
+
+      # `colcon test` does not actually error on failure - run `colcon test-result` to generate a summary and an error code.
+      - name: Display colcon test results
+        # Run this step even if a previous step failed
+        if: always()
+        run: colcon test-result --verbose
+        working-directory: /colcon_ws

.github/workflows/pre-commit.yml

@@ -0,0 +1,29 @@
+# see https://github.com/pre-commit/action
+
+name: pre-commit
+
+on:
+  workflow_dispatch:
+  pull_request:
+  push:
+    branches:
+      - main
+
+jobs:
+  pre-commit:
+    name: Format
+    runs-on: ubuntu-24.04
+    steps:
+      - uses: actions/checkout@v4
+      - uses: actions/setup-python@v5
+        with:
+          python-version: '3.10'
+      - name: Install clang-format-18
+        run: sudo apt-get install clang-format-18
+      - uses: pre-commit/[email protected]
+        id: precommit
+      - name: Upload pre-commit changes
+        if: failure() && steps.precommit.outcome == 'failure'
+        uses: rhaschke/upload-git-patch-action@main
+        with:
+          name: pre-commit

.github/workflows/ros2.yml

@@ -0,0 +1,15 @@
+name: ros2
+
+on: [push, pull_request]
+
+jobs:
+  industrial_ci:
+    strategy:
+      matrix:
+        env:
+          - {ROS_DISTRO: rolling, ROS_REPO: main}
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v1
+      - uses: 'ros-industrial/industrial_ci@master'
+        env: ${{matrix.env}}

.pre-commit-config.yaml

@@ -0,0 +1,83 @@
+# To use:
+#
+#     pre-commit run -a
+#
+# Or:
+#
+#     pre-commit install  # (runs every time you commit in git)
+#
+# To update this file:
+#
+#     pre-commit autoupdate
+#
+# See https://github.com/pre-commit/pre-commit
+repos:
+  # Standard hooks
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v3.4.0
+    hooks:
+      - id: check-ast
+      - id: check-case-conflict
+      - id: check-docstring-first
+      - id: check-merge-conflict
+      - id: check-symlinks
+      - id: check-yaml
+        args: ["--unsafe"] # Fixes errors parsing custom YAML constructors like ur_description's !degrees
+      - id: debug-statements
+      - id: end-of-file-fixer
+      - id: mixed-line-ending
+      - id: fix-byte-order-marker
+
+  - repo: https://github.com/astral-sh/ruff-pre-commit
+    rev: v0.3.0
+    hooks:
+      - id: ruff-format
+
+  - repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v14.0.6
+    hooks:
+      - id: clang-format
+        files: \.(c|cc|cxx|cpp|frag|glsl|h|hpp|hxx|ih|ispc|ipp|java|m|proto|vert)$
+        # -i arg is included by default by the hook
+        args: ["-fallback-style=none"]
+
+  - repo: https://github.com/adrienverge/yamllint
+    rev: v1.27.1
+    hooks:
+      - id: yamllint
+        args:
+          [
+            "--no-warnings",
+            "--config-data",
+            "{extends: default, rules: {line-length: disable, braces: {max-spaces-inside: 1}}}",
+          ]
+        types: [text]
+        files: \.(yml|yaml)$
+
+  - repo: https://github.com/tcort/markdown-link-check
+    rev: v3.12.2
+    hooks:
+      - id: markdown-link-check
+        args:
+          - "-c"
+          - "markdown-link-check-config.json"
+
+  - repo: https://github.com/cheshirekow/cmake-format-precommit
+    rev: v0.6.10
+    hooks:
+      - id: cmake-format
+      - id: cmake-lint
+        args:
+          - "--disabled-codes=C0301" # Disable Line too long lint
+          - "--suppress-decorations"
+
+  - repo: https://github.com/pre-commit/mirrors-prettier
+    rev: "v3.1.0"
+    hooks:
+      # Use Prettier to lint XML files because, well.. its rules are prettier than most linters, as the name implies.
+      # Also we use it in the UI, so it's familiar.
+      - id: prettier
+        additional_dependencies:
+          - "[email protected]"
+          - "@prettier/[email protected]"
+        files: \.(xml|xacro)$

Dockerfile

@@ -0,0 +1,38 @@
+# Docker setup that's used for CI.
+
+FROM osrf/ros:rolling-desktop-full
+
+# Install external packages.
+# hadolint ignore=DL3008
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,target=/var/lib/apt,sharing=locked \
+    apt-get update && apt-get upgrade -y && \
+    apt-get install -y --no-install-recommends \
+      clang-tidy \
+      # use cyclonedds instead of fastdds
+      ros-rolling-rmw-cyclonedds-cpp
+
+# Create the colcon ws. For now, copy the source files into the workspace
+# so that we don't have to deal with cloning this repo, which is private.
+WORKDIR /colcon_ws/src/fuse
+COPY . .
+WORKDIR /colcon_ws
+# hadolint ignore=SC1091
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,target=/var/lib/apt,sharing=locked \
+    apt-get update && apt-get upgrade -y && \
+    . /opt/ros/rolling/setup.sh && \
+    rosdep install --from-paths src -y --ignore-src && \
+    colcon build --mixin compile-commands coverage-gcc coverage-pytest
+
+# Set up final environment and entrypoint.
+ENV RMW_IMPLEMENTATION rmw_cyclonedds_cpp
+ENV CYCLONEDDS_URI /root/.ros/cyclonedds.xml
+COPY dds/cyclonedds_local.xml $CYCLONEDDS_URI
+COPY .clang-tidy /colcon_ws
+COPY entrypoint.sh /
+ENTRYPOINT [ "/entrypoint.sh" ]
+RUN echo "source /entrypoint.sh" >> ~/.bashrc
+
+ENV SHELL /bin/bash
+CMD ["/bin/bash"]

Jenkinsfile

@@ -17,4 +17,4 @@ tailorTestPipeline(
   source_branch: 'rolling',
   // Docker registry where test image is stored
   docker_registry: 'https://084758475884.dkr.ecr.us-east-1.amazonaws.com/locus-tailor'
-)
+)